EP2331302A1 - Dispositif et procédé de manipulation d'outils montés sur des appareils de manipulation - Google Patents

Dispositif et procédé de manipulation d'outils montés sur des appareils de manipulation

Info

Publication number
EP2331302A1
EP2331302A1 EP09737340A EP09737340A EP2331302A1 EP 2331302 A1 EP2331302 A1 EP 2331302A1 EP 09737340 A EP09737340 A EP 09737340A EP 09737340 A EP09737340 A EP 09737340A EP 2331302 A1 EP2331302 A1 EP 2331302A1
Authority
EP
European Patent Office
Prior art keywords
tool
handling device
tool holder
spindle drive
storage space
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09737340A
Other languages
German (de)
English (en)
Inventor
Stefan Gfatter
Rainer Krappinger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AG Austria
Original Assignee
ABB AG Austria
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB AG Austria filed Critical ABB AG Austria
Publication of EP2331302A1 publication Critical patent/EP2331302A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15553—Tensioning devices or tool holders, e.g. grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15706—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a single tool being inserted in a spindle directly from a storage device, i.e. without using transfer devices

Definitions

  • the invention relates to a used as a machine tool handling device, for example, a multi-axis industrial robot, with at least one movable articulated arm, at its free end a spindle drive for a tool holder with a tool is arranged.
  • a machine tool handling device for example, a multi-axis industrial robot, with at least one movable articulated arm, at its free end a spindle drive for a tool holder with a tool is arranged.
  • robots are increasingly being used as a machine tool, with the at least one movable robotic arm being provided at its free end with a spindle drive which serves as a drive for a respective tool held in a tool holder.
  • a hurdle in the automated use of robots prepares the tool change, that is, the assembly of the respective required tool, which is usually taken from a tool storage system.
  • tool storage systems were used in machine tools for machining centers. These are used to provide different tools, that is, depending on the design, manufacturing process and / or dimension for the respective manufacturing step.
  • tool storage systems offer the advantage that for a tool change no plant operator or supervisor must enter the plant or in the process to perform the tool change.
  • tool storage systems are used to perform different applications or manufacturing processes with different tools or manipulators.
  • a tool storage system consists of individual tool storage locations. The arrangement of the storage places results from the tradition of the machine tools or from requirements to the plant. The differing designs of the tool storage system have an influence on the arrangement or on the design of the tool storage space.
  • the tool depositing stations can be designed such that the tool is only stored and remains in position by its own weight, that is to say by gravity, or by the design of the depositing station. But it may also be necessary that the tool is held in position by preferably remotely operable clamping means.
  • Such clamping means can be actuated pneumatically, electrically or hydraulically.
  • At least one supply line and a controller with program logic are usually required to carry out the tensioning process which is to be considered for tool depositing places.
  • the movable articulated arm moves the spindle drive to a designated tool storage space where it receives the stored there with the respective tool tool holder relationship or- in it.
  • the unit of tool and tool holder is always meant.
  • the tool holder is prepared on the one hand for connection to the spindle drive, preferably for automatic connection, and on the other hand provided for receiving each tool with which the tool holder virtually forms a structural unit.
  • the already known tool storage space is designed to be modular in a further improvement of the invention. That is, it can be expanded with one or more similar tool storage spaces to a tool storage system that can be approached and used by one or more used as a machine tool handling equipment.
  • the tool holders of the respective modular tool storage space can be adapted to the respective tool provided for storage.
  • the adaptation can also be ensured by the fact that the tool holder of the modular tool storage space is interchangeable for the purpose of adaptation to the respective tool provided for storage.
  • each modular tool storage space is equipped with a tool presence sensor, which detects and displays the state of charge of the respective tool storage space.
  • the two-part body also provides the guide for the pivoting gripping jaws, which are acted upon by means of the spring also provided in the closing direction to each other.
  • the spring device can act both simultaneously gripping jaws and be arranged so that each of the gripping jaws is acted upon independently of the other, that is, each jaw is associated with at least one spring.
  • the springs may be designed as coil springs, ajß leaf springs, as coil springs or optionally as compression springs or as tension springs
  • the handling device for tool change namely the tool holder or tool tray, the intended tool storage space webs or force-controlled ana. It proves to be advantageous that the handling device for the tool change the removal position or transfer position reaches the intended tool storage space, which is given due to the inherent tolerance a very good compensation for low local deviations.
  • the handling device in the removal position with the spindle drive locks and removes the tool holder stored in the tool rest.
  • the handling device and the recorded tool which is virtually integrally connected to the tool holder, form a unit.
  • the handling device for depositing a tool annd the intended tool tray, which stores the tool holder connected to the spindle drive therein, then releases the lock and away from the tool storage area, that is without tool holder.
  • the tool holder is adapted to the respectively provided spindle drive tool holder standards, for example ISO or HSK.
  • the tool holders controlled by the handling device can be adapted to other spindle drive tool holder standards, for example ISO or HSK, by exchanging their respective guide parts and their gripping jaws.
  • the relevant parts namely the respective guide part and the two gripping jaws, which are preferably simply connected to the tool holder, can be easily solved.
  • a method for automated handling held by a arranged at the free end of an articulated arm of a manipulator spindle drive tool holder, which is provided at a tool change for filing in a modular tool storage space characterized in that the tool holder web or force-controlled by the handling device provided tool tray is promoted and brought into engagement with it, that the tool change, namely the tool tray, the locking of the spindle drive is released in the tool holder and that the spindle drive is removed from the handling device of the relevant tool storage location.
  • the spindle drive is conveyed by the handling device web or force controlled to the intended modular tool storage space, inserted into the tool holder therein and is raised and engaged with this, whereupon for the purpose of tool holder the spindle drive is locked in the tool holders ng and the spindle drive together with the non-positively and positively connected tool holder is moved away from the handling device of the relevant tool storage space.
  • the method for the automated handling of the change of a tool holder actuated by a handling device is characterized in that the movement sequences of the handling device are carried out manually or by means of programmed control.
  • the starting point of the invention is a handling device, for example an industrial robot, with a spindle drive.
  • the spindle drive is equipped with a manual or automatic tool changer.
  • the invention relates to a system of the aforementioned handling device and a modular tool storage space with a standardized mechanical interface, which manages without additional power supply.
  • a tool storage system can be individually assembled and expanded through a standardized mechanical interface.
  • the mechanical interface is designed so that the individual tool storage locations can be connected to each other and thus the tool memory is arbitrarily expandable. Due to the modularity, the number of tool storage locations is freely selectable.
  • the modular design of the tool storage space is adaptable to the various spindle drive tool holder standards, for example HSK or ISO. In this case, only the recordings of the modular tool storage space need to be changed.
  • the tool tray requires no additional power supply to hold the tool in place.
  • the integrated tool presence sensor signal is processed programmatically and uses the graphical user interface (HMI) of the programming device to inform the operator of the current status via the tool storage location as well as the condition of the relevant tool, for example with regard to wear or its dimension ,
  • HMI graphical user interface
  • the respective status when changing the tool of a handling device is displayed on a graphical user interface.
  • Figure 1 shows a tool storage space according to the invention in an oblique view from above.
  • Fig. 2 shows the tool storage space of FIG. 1 in three different positions when placing a tool
  • Fig. 3 shows the tool storage space of FIG. 1 in three different positions when receiving a tool.
  • a tool tray 10 is shown according to the invention in an oblique view from above. It has a base body 12, which consists of two parts 14, 16, in which two mirror-symmetrical gripping jaws 18 are arranged pivotably.
  • the main body 10 has a rectangular basic structure with beveled corners, which offers the best conditions for a modular construction of a tool store formed from a plurality of tool depositing places 10 according to the invention.
  • the lower part 14 of the main body 12 forms the pivot base for the two gripping jaws 18, which are covered by the upper part 16 of the base body 12.
  • a spring means not shown in detail is arranged in the base body 12, which acts on both gripping jaws 18 in the closed position.
  • the legs of the gripping jaws 18 extend parallel to the side edges of the main body 12.
  • a guide member 20 is disposed on the front access side, which is provided with a semicircular support ring 22 which serves as a support collar and as a guide for a tool which is stored in the tool storage space 10.
  • This semicircular bearing ring 22 is continued in respective projections 24 on the inner sides of the two gripping jaws 18.
  • the gripping jaws 18 are provided with bevels which are referred to as lead-in chamfers 28. provided, which provide for a pressure-controlled opening of the gripping jaws 18 and thus access to the tool storage space 10 and the secure recording of a tool that is provided for storage in the tool storage space 10.
  • a loading or presence sensor 26 is arranged centrally on the upper part 16 of the base body 10, which is activated by the tool when storing a tool in the tool storage space 10 and thus displays the state of charge of the tool storage space 10.
  • the two jaws 18 limit in the closed position each about an eight-circle, wherein between the mutually facing free ends of the gripping jaws 18, a gap is provided which serves the storage or recording of a located in the tool storage space 10 tool.
  • the industrial robot moves to the tool storage location at the selected tool storage location 10, either due to program or manual selection.
  • the industrial robot moves linear web-controlled or force-controlled with the equipped with tool holder on the spindle drive to the tool storage space 10.
  • the gripping jaws 18 are equipped with a guide aid for the respective tool holder types.
  • the provided with the tool holder 30 at the free end of the robot arm is pressed against the Einzhoufase 24 to the jaws 18 and due to the force of the industrial robot open the jaws 18.
  • the arrangement of the gripping jaws 18 and the spring is provided so that the tool tray 10 a gewis - allows tolerance in the lateral offset during insertion.
  • the tool holder 30 slides on the guides 22, 24 in the tool tray.
  • the jaws close 18 and thereby fix the tool holder 30 in its position.
  • the tool presence sensor system 26 reports "tool present” and the message is processed further in the program routine and is displayed to the operator.
  • the spindle drive releases the tool holder 30 after releasing the integrated lock and the industrial robot moves to a safe position Gripping jaws closed until the end position and thereby ensure a repeatable and secure removal and receiving position of the tool holder 30 for the tool change.
  • the industrial robot moves to the removal position in the tool store with the spindle spindle drive empty.
  • the selection of the tool to be retrieved can be made programmatically or by selection by the operator.
  • the industrial robot travels in a linear, path-controlled or force-controlled manner to the removal position.
  • the spindle drive locks the tool holder and moves out of the tool rest 10.
  • the tool holder 30 presses the gripping jaws 18 and overcomes the closing force of the spring.
  • the arrangement of the spring and the gripping jaws 18 allows a lateral tolerance. When the largest diameter of the tool holder 30 has overcome the gripping jaws 18, they close again by the spring force.
  • the tool presence sensor system 26 reports "No tool present", this message is further processed in the program routine for the operator to be visibly displayed
  • the industrial robot travels with the tool holder in the spindle drive to a safe position and waits for further input from the operator or continues in the program sequence.
  • List of Reference Tool restraints Main body Lower part Upper part Gripping jaws Guide part Semicircular supporting ring Forming on the gripping jaws Presence sensor Insertion chamfer

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

Appareil de manipulation utilisé en tant que machine-outil, par exemple robot industriel à plusieurs axes, qui comporte au moins un bras articulé mobile à l'extrémité libre duquel est situé un mécanisme d'entraînement à broche pour un porte-outil (30) pourvu d'un outil. Le bras articulé déplace le mécanisme d'entraînement à broche jusqu'à un site de rangement d'outils (10) prévu où le mécanisme d'entraînement à broche reçoit le porte-outil pourvu de l'outil ou dépose ledit porte-outil. La présente invention concerne également un procédé permettant une manipulation automatisée.
EP09737340A 2008-10-06 2009-09-23 Dispositif et procédé de manipulation d'outils montés sur des appareils de manipulation Withdrawn EP2331302A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008050107 2008-10-06
PCT/EP2009/006872 WO2010040450A1 (fr) 2008-10-06 2009-09-23 Dispositif et procédé de manipulation d'outils montés sur des appareils de manipulation

Publications (1)

Publication Number Publication Date
EP2331302A1 true EP2331302A1 (fr) 2011-06-15

Family

ID=41621199

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09737340A Withdrawn EP2331302A1 (fr) 2008-10-06 2009-09-23 Dispositif et procédé de manipulation d'outils montés sur des appareils de manipulation

Country Status (4)

Country Link
EP (1) EP2331302A1 (fr)
CN (1) CN102202837B (fr)
DE (1) DE102009042352A1 (fr)
WO (1) WO2010040450A1 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202010011582U1 (de) * 2010-08-19 2011-11-21 Stäubli-Tec Systems GmbH Lagerungseinheit für eine Werkzeugablagevorrichtung
CN103433928B (zh) * 2013-08-28 2016-12-28 深圳市海目星激光科技有限公司 一种机械手工具快速切换设备
CN103495895B (zh) * 2013-09-29 2015-12-30 大连机床(数控)股份有限公司 自锁式刀具快速交换装置
TWI511833B (zh) * 2013-11-14 2015-12-11 Ying Sun 刀具交換刀庫之換刀臂結構
JP6708340B2 (ja) * 2016-04-05 2020-06-10 国立研究開発法人産業技術総合研究所 ロボットハンドの爪部交換機構およびこの爪部交換機構を用いた爪部交換方法
CN105945837A (zh) * 2016-06-23 2016-09-21 中山市美捷时包装制品有限公司 一种夹持装置
US20190111575A1 (en) * 2017-10-18 2019-04-18 Canon Kabushiki Kaisha Tool stocker, interchangeable tool, robot apparatus, robot system, control method of robot system, and storage medium
US10639796B2 (en) * 2017-11-03 2020-05-05 Fanuc America Corporation Vehicle e-coat drain plug insertion tool
US11865722B2 (en) 2018-01-17 2024-01-09 Berkshire Grey Operating Company, Inc. Systems and methods for efficiently moving a variety of objects
CN111376239B (zh) * 2018-12-29 2023-06-27 希姆通信息技术（上海）有限公司 机器人的抓取方法及系统
CN117622909B (zh) * 2024-01-23 2024-04-02 山东中谷饲料有限公司 一种用于饲料加工的码垛机械手

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US4512709A (en) * 1983-07-25 1985-04-23 Cincinnati Milacron Inc. Robot toolchanger system
FR2612109B3 (fr) * 1987-03-11 1989-10-06 Renault Automation Sa Dispositif de changement d'outil de robot
US4858980A (en) * 1988-08-23 1989-08-22 Cincinnati Milacron Inc. Article gripper
JP2714696B2 (ja) * 1989-07-05 1998-02-16 ニッタ株式会社 自動工具交換装置用の工具保持具
JP3868873B2 (ja) * 2002-09-18 2007-01-17 ニッタ株式会社 着脱機構

Non-Patent Citations (2)

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See also references of WO2010040450A1 *

Also Published As

Publication number Publication date
CN102202837B (zh) 2015-11-25
CN102202837A (zh) 2011-09-28
DE102009042352A1 (de) 2010-04-08
WO2010040450A1 (fr) 2010-04-15

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